Method for dynamically determining peak output torque within battery constraints in a hybrid transmission including a parallel hybrid split

ABSTRACT

A method for determining output torque limits of a powertrain including an electrically variable transmission relies upon a model of the electrically variable transmission. Transmission operating space is defined by electric machine torque constraints, engine torque constraints and battery power constraints. Output torque limits are determined at the limits of the transmission operating space.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Ser. No. 60/571,662filed on May 15, 2004, which is hereby incorporated herein by referencein its entirety.

TECHNICAL FIELD

The present invention is related to control of a vehicular powertrain.More particularly, the invention is concerned with real-time, on-vehicledeterminations of output torque limitations of an electrically variabletransmission.

BACKGROUND OF THE INVENTION

Various hybrid powertrain architectures are known for managing the inputand output torques of various prime-movers in hybrid vehicles, mostcommonly internal combustion engines and electric machines. Serieshybrid architectures are generally characterized by an internalcombustion engine driving an electric generator which in turn provideselectrical power to an electric drivetrain and to a battery pack. Theinternal combustion engine in a series hybrid is not directlymechanically coupled to the drivetrain. The electric generator may alsooperate in a motoring mode to provide a starting function to theinternal combustion engine, and the electric drivetrain may recapturevehicle braking energy by also operating in a generator mode to rechargethe battery pack. Parallel hybrid architectures are generallycharacterized by an internal combustion engine and an electric motorwhich both have a direct mechanical coupling to the drivetrain. Thedrivetrain conventionally includes a shifting transmission to providethe necessary gear ratios for wide range operation.

Electrically variable transmissions (EVT) are known which provide forcontinuously variable speed ratios by combining features from bothseries and parallel hybrid powertrain architectures. EVTs are operablewith a direct mechanical path between an internal combustion engine anda final drive unit thus enabling high transmission efficiency andapplication of lower cost and less massive motor hardware. EVTs are alsooperable with engine operation mechanically independent from the finaldrive or in various mechanical/electrical split contributions therebyenabling high-torque continuously variable speed ratios, electricallydominated launches, regenerative braking, engine off idling, andmulti-mode operation.

It is known in the art of vehicular powertrain controls to interpret anoperator's request for torque into a system torque command to effect anoutput torque to the vehicle driveline. Such interpretation and commandrequire relatively simple control management dominated by the availableengine torque in relation to a vehicle's present set of operatingparameters, which relationship is relatively well understood. Inelectrically variable transmission based hybrid powertrains a number offactors in addition to the available engine torque affect the outputtorque that can be provided to the vehicle driveline. It is known insuch hybrid powertrains to interpret an operator's request for torqueinto a system torque command and allow individual sub-system limitationsto dictate actual output torque. Such limitations include, for example,available engine torque, available electric machine torque and theavailable electrical energy storage system power. It is preferable tounderstand the various subsystem individual and interactive constraintsaffecting available powertrain output torque such that output torquecommands are issued consistent with such torque availability andsubsystem constraints.

Available development tools and modeling may provide some understandingof electrically variable transmission based hybrid powertrain availableoutput torque. But such techniques are generally limited to steady stateoperation, neglecting the significance of inertia torques upon thepowertrain from vehicle dynamic conditions including vehicular andpowertrain (engine and electric machine) accelerations. Such techniquesare also generally iterative in nature and rely on human intervention isdetermining what parameters are held constant and what parameters are tobe solved for. Such techniques, therefore, are ill equipped foradaptation to real-time, on-vehicle, dynamic, multi-variable solutionsfor effective control.

SUMMARY OF THE INVENTION

A vehicular powertrain includes an engine, an electrically variabletransmission including at least one electric motor, an electricalstorage device and a driveline. The engine is operatively coupled to theelectrically variable transmission at an input thereof and the drivelineis operatively coupled to the electrically variable transmission at anoutput thereof.

A method for determining output torque limits of the powertrain includesdetermining the feasible motor torque operating space and various setsof output torque limits within the feasible motor torque operating spaceare determined. A first set of output torque limits is based uponpredetermined motor torque limits and predetermined engine torquelimits; a second set of output torque limits is based upon predeterminedelectrical storage device power limits and the predetermined motortorque limits; and, a third set of output torque limits is based uponthe predetermined electrical storage device power limits and thepredetermined engine torque limits. The overall output torque limits ofthe powertrain are determined as the most constrained of output torquesfrom the first, second and third sets of output torque limits.

A method for determining output torque limits of the powertrain includesdetermining electrical storage device power limits, motor torque limitsand engine torque limits. Input torque limits are determined as the mostconstrained of input torques corresponding to the engine torque limitsand the motor torque limits. A first set of output torque limits isdetermined as the least constrained of output torques corresponding tothe input torque limits at the motor torque limits; a second set ofoutput torque limits is determined as the least constrained of outputtorques corresponding to the electrical storage device power limits atthe motor torque limits and output torques corresponding to the motortorque limits within the electrical storage device power limits; and, athird set of output torque limits is determined as the least constrainedof output torques corresponding to the electrical storage device powerlimits at the input torque limits and output torques corresponding tothe input torque limits at the motor torque limits within the electricalstorage device power limits. The overall output torque limits of thepowertrain are determined as the most constrained of output torques fromthe first, second and third sets of output torque limits.

A method for determining output torque limits of the powertrain includesdetermining least constrained motor limited input torques correspondingto predetermined motor torque limits and determining engine limitedinput torques corresponding to predetermined engine torque limits. Inputtorque limits are selected as the most constrained of the motor limitedinput torques and engine limited input torques so determined. A firstset of output torque limits is determined as the least constrained ofoutput torques corresponding to the input torque limits and thepredetermined motor torque limits; a second set of output torque limitsis determined as the least constrained of output torques correspondingto predetermined electrical storage device power limits at thepredetermined motor torque limits and output torques corresponding tothe predetermined motor torque limits within the predeterminedelectrical storage device power limits; and, a third set of outputtorque limits is determined as the least constrained of output torquescorresponding to the predetermined electrical storage device powerlimits at the input torque limits and output torques corresponding tothe input torque limits at the predetermined motor torque limits withinthe predetermined electrical storage device power limits. The overalloutput torque limits of the powertrain are determined as the mostconstrained of output torques from the first, second and third sets ofoutput torque limits.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a mechanical hardware schematic representation of onepreferred form of a two-mode, compound-split, electrically variabletransmission particularly suited to the implementation of the presentinvention;

FIG. 2 is an electrical and mechanical schematic of a preferred systemarchitecture for the hybrid powertrain disclosed herein;

FIG. 3 is a graphical representation of various regions of operationwith respect to input and output speeds of the exemplary electricallyvariable transmission disclosed herein;

FIG. 4A is a torque space plot in motor torques (Ta and Tb) includinglines of constant battery power (Pbat), lines of constant output torque(To) and lines of constant input torque Ti for MODE 2 operation of theexemplary electrically variable transmission of FIG. 1;

FIG. 4B is a torque space plot in motor torques (Ta and Tb) includinglines of constant output torque (To) and lines of constant input torqueTi for MODE 1 operation of the exemplary electrically variabletransmission of FIG. 1;

FIG. 5 is a graphical depiction of empirically determined motor torquevs. speed characteristic data utilized in the determination of feasibleTa-Tb torque space in accordance with the present invention;

FIG. 6 is a flow chart illustrating exemplary steps in a set ofinstructions executed by a computer based controller particularlyrelated to dynamically determining peak output torque in accordance withthe present invention;

FIGS. 7–10 are graphical representations in Ta-Tb torque space ofvarious steps and results thereof related to dynamically determiningpeak output torque in accordance with the present invention;

FIGS. 11A and 11B illustrate characteristic machine torque, speed andpower loss relationships;

FIG. 12 is a flow chart illustrating exemplary steps in a set ofinstructions executed by a computer based controller particularlyrelated to dynamically determining peak output torque in accordance withthe present invention;

FIG. 13 is a flow chart illustrating exemplary steps in a set ofinstructions executed by a computer based controller particularlyrelated to dynamically determining peak output torque in accordance withthe present invention;

FIGS. 14–19 are graphical representations in Ta-Tb torque space ofvarious steps and results thereof related to dynamically determiningpeak output torque in accordance with the present invention; and

FIG. 20 is a block schematic of a final arbitration performed uponvarious output torques corresponding to parametrically limited maximumand minimum output torques related to dynamically determining peakoutput torque in accordance with the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

With reference first to FIGS. 1 and 2, a vehicular powertrain system isgenerally designated 11. Included in the powertrain 11 is onerepresentative form of a multi-mode, compound-split, electricallyvariable transmission (EVT) particularly suited for implementing thecontrols of the present invention and designated generally by thenumeral 10 in FIGS. 1 and 2. With particular reference, then, to thosefigures, the EVT 10 has an input member 12 that may be in the nature ofa shaft which may be directly driven by an engine 14 or, as shown inFIG. 2, a transient torque damper 16 may be incorporated between theoutput member of the engine 14 and the input member of the EVT 10. Thetransient torque damper 16 may incorporate, or be employed inconjunction with, a torque transfer device (not shown) to permitselective engagement of the engine 14 with the EVT 10, but it must beunderstood that such a torque transfer device is not utilized to change,or control, the mode in which the EVT 10 operates.

In the embodiment depicted the engine 14 may be a fossil fuel engine,such as a diesel engine which is readily adapted to provide itsavailable power output delivered at a constant number of revolutions perminute (RPM). In the exemplary embodiment to which FIGS. 1 and 2 aredirected, the engine 14 can—after start-up, and during the majority ofits input—operate at a constant speed or at a variety of constant speedsin accordance with a desired operating point as may be determined fromoperator inputs and driving conditions.

The EVT 10 utilizes three planetary gear subsets 24, 26 and 28. Thefirst planetary gear subset 24 has an outer gear member 30, that maygenerally be designated as the ring gear, which circumscribes an innergear member 32, generally designated as the sun gear. A plurality ofplanet gear members 34 are rotatably mounted on a carrier 36 such thateach planet gear member 34 meshingly engages both the outer gear member30 and the inner gear member 32.

The second planetary gear subset 26 also has an outer gear member 38,generally designated as the ring gear, which circumscribes an inner gearmember 40, generally designated as the sun gear. A plurality of planetgear members 42 are rotatably mounted on a carrier 44 such that eachplanet gear 42 meshingly engages both the outer gear member 38 and theinner gear member 40.

The third planetary gear subset 28 also has an outer gear member 46,generally designated as the ring gear, which circumscribes an inner gearmember 48, generally designated as the sun gear. A plurality of planetgear members 50 are rotatably mounted on a carrier 52 such that eachplanet gear 50 meshingly engages both the outer gear member 46 and theinner gear member 48.

While all three planetary gear subsets 24, 26 and 28 are “simple”planetary gear subsets in their own right, the first and secondplanetary gear subsets 24 and 26 are compounded in that the inner gearmember 32 of the first planetary gear subset 24 is conjoined, as througha hub plate gear 54, to the outer gear member 38 of the second planetarygear subset 26. The conjoined inner gear member 32 of the firstplanetary gear subset 24 and the outer gear member 38 of the secondplanetary gear subset 26 are continuously connected to a firstmotor/generator 56, as by a sleeve shaft 58. First motor/generator 56may also be referred to herein variously as motor A or M_(A).

The planetary gear subsets 24 and 26 are further compounded in that thecarrier 36 of the first planetary gear subset 24 is conjoined, asthrough a shaft 60, to the carrier 44 of the second planetary gearsubset 26. As such, carriers 36 and 44 of the first and second planetarygear subsets 24 and 26, respectively, are conjoined. The shaft 60 isalso selectively connected to the carrier 52 of the third planetary gearsubset 28, as through a torque transfer device 62 which, as will behereinafter more fully explained, is employed to assist in the selectionof the operational modes of the EVT 10. Torque transfer device 62 mayalso be referred to herein variously as second clutch, clutch two or C2.

The carrier 52 of the third planetary gear subset 28 is connecteddirectly to the transmission output member 64. When the EVT 10 is usedin a land vehicle, the output member 64 may be connected to thevehicular axles (not shown) that may, in turn, terminate in the drivemembers (also not shown). The drive members may be either front or rearwheels of the vehicle on which they are employed, or they may be thedrive gear of a track vehicle.

The inner gear member 40 of the second planetary gear subset 26 isconnected to the inner gear member 48 of the third planetary gear subset28, as through a sleeve shaft 66 that circumscribes shaft 60. The outergear member 46 of the third planetary gear subset 28 is selectivelyconnected to ground, represented by the transmission housing 68, througha torque transfer device 70. Torque transfer device 70, as is alsohereinafter explained, is also employed to assist in the selection ofthe operational modes of the EVT 10. Torque transfer device 70 may alsobe referred to herein variously as first clutch, clutch one or C1.

The sleeve shaft 66 is also continuously connected to a secondmotor/generator 72. Second motor/generator 72 may also be referred toherein variously as motor B or M_(B). All the planetary gear subsets 24,26 and 28 as well as motor A and motor B (56, 72) are coaxiallyoriented, as about the axially disposed shaft 60. It should be notedthat both motors A and B are of an annular configuration which permitsthem to circumscribe the three planetary gear subsets 24, 26 and 28 suchthat the planetary gear subsets 24, 26 and 28 are disposed radiallyinwardly of the motors A and B. This configuration assures that theoverall envelope—i.e., the circumferential dimension—of the EVT 10 isminimized.

A drive gear 80 may be presented from the input member 12. As depicted,the drive gear 80 fixedly connects the input member 12 to the outer gearmember 30 of the first planetary gear subset 24, and the drive gear 80,therefore, receives power from the engine 14 and/or the motor/generators56 and/or 72. The drive gear 80 meshingly engages an idler gear 82which, in turn, meshingly engages a transfer gear 84 that is secured toone end of a shaft 86. The other end of the shaft 86 may be secured to atransmission fluid pump and 88 which is supplied transmission fluid fromsump 37, delivering high pressure fluid to regulator 39 which returns aportion of the fluid to sump 37 and provides regulated line pressure inline 41.

In the described exemplary mechanical arrangement, the output member 64receives power through two distinct gear trains within the EVT 10. Afirst mode, or gear train, is selected when the first clutch C1 isactuated in order to “ground” the outer gear member 46 of the thirdplanetary gear subset 28. A second mode, or gear train, is selected whenthe first clutch C1 is released and the second clutch C2 issimultaneously actuated to connect the shaft 60 to the carrier 52 of thethird planetary gear subset 28. As used herein, when a mode related to agear train is referenced an upper case designation MODE 1 or MODE 2, orM1 or M2, will generally be used. Those skilled in the art willrecognize MODE 1 as an input split arrangement and MODE 2 as a compoundsplit arrangement.

Those skilled in the art will appreciate that the EVT 10 is capable ofproviding a range of output speeds from relatively slow to relativelyfast within each mode of operation. This combination of two modes with aslow to fast output speed range in each mode allows the EVT 10 to propela vehicle from a stationary condition to highway speeds. In addition, afixed-ratio state wherein both clutches C1 and C2 are simultaneouslyapplied is available for efficient mechanical coupling of the inputmember to the output member through a fixed gear ratio. Furthermore, aneutral state wherein both clutches C1 and C2 are simultaneouslyreleased is available for mechanically decoupling the output member fromthe transmission. Finally, the EVT 10 is capable to provide synchronizedshifts between the modes wherein slip speed across both clutches C1 andC2 is substantially zero. Additional details regarding operation of theexemplary EVT can be found in commonly assigned U.S. Pat. No. 5,931,757,the contents of which are incorporated herein by reference.

Engine 14 is preferably a diesel engine and electronically controlled byengine control module (ECM) 23 as illustrated in FIG. 2. ECM 23 is aconventional microprocessor based diesel engine controller comprisingsuch common elements as microprocessor, read only memory ROM, randomaccess memory RAM, electrically programmable read only memory EPROM,high speed clock, analog to digital (A/D) and digital to analog (D/A)circuitry, and input/output circuitry and devices (I/O) and appropriatesignal conditioning and buffer circuitry. ECM 23 functions to acquiredata from a variety of sensors and control a variety of actuators,respectively, of the engine 14 over a plurality of discrete lines. Forsimplicity, ECM 23 is shown generally in bi-directional interface withengine 14 via aggregate line 35. Among the various parameters that maybe sensed by ECM 23 are oil sump and engine coolant temperatures, enginespeed (Ne), turbo pressure, and ambient air temperature and pressure.Various actuators that may be controlled by the ECM 23 include fuelinjectors, fan controllers, engine preheaters including glow plugs andgrid-type intake air heaters. ECM preferably provides for well knowntorque based controls for engine 14 in response to a torque commandTe_cmd provided by the EVT control system. Such engine electronics,controls and quantities are generally well known to those skilled in theart and further detailed exposition thereof is not required herein

As should be apparent from the foregoing description the EVT 10selectively receives power from the engine 14. As will now be explainedwith continued reference to FIG. 2 the EVT also receives power from anelectric storage device such as one or more batteries in battery packmodule (BPM) 21. The powertrain system also includes such energy storagedevices which are an integral part of the power flows thereof. Otherelectric storage devices that have the ability to store electric powerand dispense electric power may be used in place of the batterieswithout altering the concepts of the present invention. The BPM 21 ishigh voltage DC coupled to dual power inverter module (DPIM) 19 via DClines 27. Current is transferable to or from the BPM 21 in accordancewith whether the BPM 21 is being charged or discharged. DPIM 19 includesa pair of power inverters and respective motor controllers configured toreceive motor control commands and control inverter states therefrom forproviding motor drive or regeneration functionality. Motor controllersare microprocessor based controllers comprising such common elements asmicroprocessor, read only memory ROM, random access memory RAM,electrically programmable read only memory EPROM, high speed clock,analog to digital (A/D) and digital to analog (D/A) circuitry, andinput/output circuitry and devices (I/O) and appropriate signalconditioning and buffer circuitry. In motoring control, the respectiveinverter receives current from the DC lines and provides AC current tothe respective motor over high voltage phase lines 29 and 31. Inregeneration control, the respective inverter receives AC current fromthe motor over high voltage phase lines 29 and 31 and provides currentto the DC lines 27. The net DC current provided to or from the invertersdetermines the charge or discharge operating mode of the BPM 21.Preferably, M_(A) and M_(B) are three-phase AC machines and theinverters comprise complementary three-phase power electronics.Individual motor speed signals Na and Nb for M_(A) and M_(B),respectively, are also derived by the DPIM 19 from the motor phaseinformation or conventional rotation sensors. Such motors, electronics,controls and quantities are generally well known to those skilled in theart and further detailed exposition thereof is not required herein.

System controller 43 is a microprocessor based controller comprisingsuch common elements as microprocessor, read only memory ROM, randomaccess memory RAM, electrically programmable read only memory EPROM,high speed clock, analog to digital (A/D) and digital to analog (D/A)circuitry, digital signal processor (DSP), and input/output circuitryand devices (I/O) and appropriate signal conditioning and buffercircuitry. In the exemplary embodiment, system controller 43 comprises apair of microprocessor based controllers designated as vehicle controlmodule (VCM) 15 and transmission control module (TCM) 17. VCM and TCMmay provide, for example, a variety of control and diagnostic functionsrelated to EVT and vehicle chassis including, for example, engine torquecommands, input speed control, and output torque control in coordinationwith regenerative braking, anti-lock braking and traction control.Particularly with respect to EVT functionality, system controller 43functions to directly acquire data from a variety of sensors anddirectly control a variety of actuators, respectively, of the EVT over aplurality of discrete lines. For simplicity, System controller 43 isshown generally in bi-directional interface with EVT via aggregate line33. Of particular note, system controller 43 receives frequency signalsfrom rotation sensors for processing into input member 12 speed Ni andoutput member 64 speed No for use in the control of EVT 10. Systemcontroller 43 may also receive and process pressure signals frompressure switches (not separately illustrated) for monitoring clutch C1and C2 application chamber pressures. Alternatively, pressuretransducers for wide range pressure monitoring may be employed. PWMand/or binary control signals are provided by system controller to EVT10 for controlling fill and drain of clutches C1 and C2 for applicationand release thereof. Additionally, system controller 43 may receivetransmission fluid sump 37 temperature data, such as from conventionalthermocouple input (not separately illustrated) to derive sumptemperature Ts and provide a PWM signal which may be derived from inputspeed Ni and sump temperature Ts for control of line pressure viaregulator 39. Fill and drain of clutches C1 and C2 are effectuated byway of solenoid controlled spool valves responsive to PWM and binarycontrol signals as alluded to above. Trim valves are preferably employedusing variable bleed solenoids to provide precise placement of the spoolwithin the valve body and correspondingly precise control of clutchpressure during apply. Similarly, line pressure regulator 39 may be of asolenoid controlled variety for establishing regulated line pressure inaccordance with the described PWM signal. Such line pressure controlsare generally well known to those skilled in the art. Clutch slip speedsacross clutches C1 and C2 are derived from output speed No, M_(A) speedNa and M_(B) speed Nb; specifically, C1 slip is a function of No and Nb,whereas C2 slip is a function of No, Na and Nb. Also illustrated is userinterface (UI) block 13 which comprises such inputs to system controller43 such as vehicle throttle position, push button shift selector (PBSS)for available drive range selection, brake effort and fast idle requestsamong others.

System controller 43 determines a torque command Te_cmd and provides itto ECM 23. Torque command Te_cmd is representative of the EVT torquecontribution desired from the engine as determined by the systemcontroller. System controller 43 also determines a speed command Ne_desrepresentative of the EVT input speed desired, which in the directcoupled arrangement between the engine and the EVT is also the desiredengine speed operating point. With the direct coupled arrangementexemplified herein, the engine torque and the EVT input torque, Te andTi respectively, are equivalent and may be referred to in thealternative herein. Similarly, the engine speed and the EVT input speed,Ne and Ni respectively, are equivalent and may be referred to in thealternative herein. Desired input torque operating points are preferablydetermined as disclosed in commonly assigned and co-pending U.S. Ser.No. 10/799,531 which is incorporated herein by reference. Desired inputspeed operating points are preferably determined as disclosed incommonly assigned and co-pending U.S. Ser. Nos. 10/686,508 and10/686,034 which are incorporated herein by reference. A preferred speedcontrol for a hybrid transmission is described in detail in commonlyassigned and co-pending U.S. Ser. No. 10/686,511 which is incorporatedherein by reference.

The various modules described (i.e., system controller 43, DPIM 19, BPM21, ECM 23) communicate via controller area network (CAN) bus 25. TheCAN bus 25 allows for communication of control parameters and commandsbetween the various modules. The specific communication protocolutilized will be application specific. For example the preferredprotocol for heavy duty applications is the Society of AutomotiveEngineers standard J1939. The CAN bus and appropriate protocols providefor robust messaging and multi-controller interfacing between the systemcontroller, ECM, DPIM, BPIM and other controllers such as antilock brakeand traction controllers.

With reference to FIG. 3, a plot of output speed No along the horizontalaxis versus input speed Ni across the vertical axis for the EVT 10 isillustrated. Synchronous operation, that is the input speed and outputspeed relationships whereat both clutch C1 and C2 are operatingsimultaneously with substantially zero slip speed thereacross isrepresented by line 91. As such, it represents the input and outputspeed relationships substantially whereat synchronous shifting frombetween modes can occur or whereat direct mechanical coupling from inputto output can be effected by simultaneous application of both clutchesC1 and C2, also known as fixed-ratio. One particular gearsetrelationship capable of producing the synchronous operation depicted byline 91 in FIG. 3 is as follows: outer gear member 30 having 91 teeth,inner gear member 32 having 49 teeth, planet gear members 34 having 21teeth; outer gear member 38 having 91 teeth, inner gear member 40 having49 teeth, planet gear members 42 having 21 teeth; outer gear member 46having 89 teeth, inner gear member 48 having 31 teeth, planet gearmembers 50 having 29 teeth. Line 91 may be variously referred to hereinas synchronous line, shift ratio line or fixed-ratio line.

To the left of the shift ratio line 91 is a preferred region ofoperation 93 for the first mode wherein C1 is applied and C2 isreleased. To the right of the shift ratio line 91 is a preferred regionof operation 95 for the second mode wherein C1 is released and C2 isapplied. When used herein with respect to clutches C1 and C2, the termapplied indicates substantial torque transfer capacity across therespective clutch while the term released indicates insubstantial torquetransfer capacity across the respective clutch. Since it is generallypreferred to cause shifts from one mode to the other to occursynchronously, torque transfers from one mode into the other mode arecaused to occur through a two clutch application fixed ratio wherein,for a finite period prior to the release of the presently appliedclutch, the presently released clutch is applied. And, the mode changeis completed when fixed-ratio is exited by the continued application ofthe clutch associated with the mode being entered and the release of theclutch associated with the mode being exited.

While region of operation 93 is generally preferred for the operation ofthe EVT in MODE 1, it is not meant to imply that MODE 2 operation of theEVT cannot or does not occur therein. Generally, however, it ispreferred to operate in MODE 1 in region 93 because MODE 1 preferablyemploys gearsets and motor hardware particularly well suited in variousaspects (e.g. mass, size, cost, inertial capabilities, etc.) to the highlaunch torques of region 93. Similarly, while region of operation 95 isgenerally preferred for the operation of the EVT in MODE 2, it is notmeant to imply that MODE 1 operation of the EVT cannot or does not occurtherein. Generally, however, it is preferred to operate in MODE 2 inregion 95 because MODE 2 preferably employs gearsets and motor hardwareparticularly well suited in various aspects (e.g. mass, size, cost,inertial capabilities, etc.) to the high speeds of region 95. Region 93,wherein MODE 1 operation is generally preferred, may be considered a lowspeed region whereas region 95, wherein MODE 2 operation is generallypreferred, may be considered a high speed region. A shift into MODE 1 isconsidered a downshift and is associated with a higher gear ratio inaccordance with the relationship of Ni/No. Likewise, a shift into MODE 2is considered an upshift and is associated with a lower gear ratio inaccordance with the relationship of Ni/No.

With reference now to FIG. 4A, an exemplary partial motor torque space(Ta-Tb space) for MODE 2 operation shows motor A (M_(A)) torque plottedacross the horizontal axis and motor B (M_(B)) torque plotted across thevertical axis at given values of Na and Nb. Boundaries are drawncorresponding to certain exemplary maximum and minimum motor A torques(Ta_min, Ta_max), the maximum and minimum being with respect to motorcapabilities at certain exemplary present operating conditions in Na(i.e., Ni, No and Mode), the precise values of which are not requiredfor the present exposition of the teachings to be gained from FIG. 4 andthe present discussion. Similar boundaries are drawn corresponding tosuch exemplary maximum and minimum motor B torques (Tb_min, Tb_max), themaximum and minimum being with respect to motor capabilities at certainexemplary present operating conditions in Nb (i.e., Ni, No and Mode).The space bounded by maximum and minimum motor torques represents afeasible solution space at present conditions for the motor units M_(A)and M_(B). This is a general representation of a feasible motor torquesolution space for a two motor EVT powertrain system, such as powertrainsystem 11, however, it is believed that the general concepts describedherein for a two motor system may be extended by one of ordinary skillto powertrain systems comprising more than two electric machines whichare operably and selectively coupled, such as in the manner describedherein, to the transmission, to define a corresponding multi-dimensionalsolution space of feasible motor torques.

Within this motor torque space are plotted several other parameter linesof constant values for a given value of Ni_dot and No_dot. A pluralityof lines of constant battery power, Pbat, are plotted which representconstant battery power solutions within the motor torque space. Alsoplotted within this motor torque space are lines of constant outputtorque, To, which represent constant output torque solutions within thespace. Finally, lines of constant input torque are plotted within themotor torque space and represent constant input torque solutionstherein. Increasing and decreasing trend directions for these respectivelines of constancy are shown by respective double-sided arrowsassociated with respective null lines of constancy.

It is noted here that while the trend and slope relationships among thetorque lines (To, Ti, Ta and Tb) remain the same as shown in FIG. 4A forother system operating conditions in Ni, No, Ni_dot and No_dot, thelines of constant battery power can change significantly from theexample shown in the figure. In fact, the lines of constant batterypower are segments of closed, substantially elliptical, constant batterypowers. Viable operating conditions in Ni, No, Ni_dot and No_dot mayinclude Ta-Tb space intersections with lines of constant battery powerwhich substantially transpose the trend relationship of the batterypowers illustrated in FIG. 4A, for example. In fact, the Ta-Tb space maylocate in substantially any orientation relative to the foci of thebattery power ellipses thereby resulting in substantially anyorientation and trend of the lines of constant battery powerintersecting the Ta-Tb space. And, the Ta-Tb space may locate closer tothe foci of battery power ellipses thus resulting in sharper curvatureof the lines of constant battery power intersecting the Ta-Tb space andpotentially increasing the intersections thereof with the Ta-Tb limits.

In the graphic representation of FIG. 4A, while the sub-space withrespect to determined Ta and Tb minimums and maximums (Ta_min, Ta_max,Tb_min, Tb_max) is feasible in accordance with the torque capabilitiesof the respective motor units, the lines of constant battery power(Pbat), lines of constant output torque (To) and lines of constant inputtorque (Ti) are not necessarily representative of feasible solutionswith respect to their respective subsystem capabilities at presentconditions but do represent theoretically unconstrained modeling of thesystem within the motor torque space.

As indicated, FIG. 4A represents a torque space qualified for MODE 2operation. A similar torque space is understood for MODE 1 and isillustrated in FIG. 4B. FIG. 4B does not show lines of constant batterypower, however, for the sake of clarity. It is significant to note thatin FIG. 4B the lines of constant input torque appear vertically since inthe input split configuration of MODE 1, the input torque is decoupledfrom the motor B torque. Also, it is noted that input torque, Ti,increases from right to left in the figure, and output torque, To,increases from the lower right to the upper left.

The specific case of MODE 2 underscores the general rule that the motortorque space as described and set forth herein is adaptable to all EVTconfigurations and modes established by the numerous possible couplingcombinations between motors, engines and outputs of an electricallyvariable transmission, including modes which completely decouple inputsand outputs from one or more motor torques. Therefore, separate,detailed discussion will not be made of MODE 1 in exemplifying thepresent invention. But, certain notable differences or distinctionsapplicable to MODE 1 may be pointed out throughout the description ofMODE 2. It is understood that the more general case of MODE 2 operationwherein the input is torque coupled to both motors A and B is sufficientfor one skilled in the art to understand its application to morespecific cases, including complete torque decoupling of one or moremotors from the EVT input.

Within this motor torque space it is desirable to determine a maximum orpeak available or feasible output torque. Such a peak output torque issubject to or defined by the various limits of the system, sub-systemand components. A preferred method for determining maximum availableoutput torque within a feasible solution space in accordance with motorand engine torque limits is set forth below in reference to the flowchart of FIG. 6 and the more detailed Ta-Tb space diagrams of FIGS.7–10. The flow chart illustrates representative steps for carrying outthe method of the present invention comprising instructions implementedas part of the executable computer code and data structures of systemcontroller 43. The instructions represented thereby are, of course,executed as a part of a much larger group of instruction sets androutines carrying out the various control and diagnostic function of thepowertrain previously described.

A model of the EVT is provided which includes steady state and dynamicEVT system parameters. In its basic form—suitably arranged for machinetorque resolution—the model is represented as follows: $\begin{matrix}{\begin{bmatrix}{Ta} \\{Tb}\end{bmatrix} = {\left\lbrack K_{1} \right\rbrack\begin{bmatrix}{Ti} \\{To} \\{Ni\_ dot} \\{No\_ dot}\end{bmatrix}}} & (1)\end{matrix}$where

-   -   Ta is motor A torque;    -   Tb is motor B torque;    -   Ti is EVT input torque;    -   To is EVT output torque;    -   Ni_dot is EVT input acceleration;    -   No_dot is EVT output acceleration; and    -   [K₁] is a 2×4 matrix of parametric values determined by the        hardware gear and shaft interconnections and estimated hardware        inertias applicable to the current drive range.        An additional torque error term is preferably incorporated into        the model yielding the preferred form represented as follows:        $\begin{matrix}        {\begin{bmatrix}        {Ta} \\        {Tb}        \end{bmatrix} = {\left\lbrack K_{2} \right\rbrack\begin{bmatrix}        {Ti} \\        {To} \\        {Ni\_ dot} \\        {No\_ dot} \\        {Ucl}        \end{bmatrix}}} & (2)        \end{matrix}$        where, as distinguished from the model as represented in        equation (1) herein above,    -   Ucl is a measured torque error term that is based upon dynamic        conditions, e.g. input speed error; and    -   [K₂] is a 2×5 matrix of parametric values that further includes        parameters for scaling the measured torque error term Ucl to        modify the motor torques Ta and Tb.        Additional details respecting the measured torque error term and        preferred method for determination thereof is found in commonly        assigned and co-pending U.S. Ser. No. 10/686,511.

Various powertrain model parameters are measured or otherwisepredetermined. Output speed, No, and input speed, Ni, are preferablyderived from sensed and filtered motor speeds, Na and Nb, which areknown through sensing, or derived through the motor control phaseinformation. The input speed, Ni, and output speed, No, can be derivedfrom motor speeds in accordance with the following known couplingconstraint equation: $\begin{matrix}{\begin{bmatrix}{Ni} \\{No}\end{bmatrix} = {\left\lbrack K_{3} \right\rbrack\begin{bmatrix}{Na} \\{Nb}\end{bmatrix}}} & (3)\end{matrix}$where

-   -   Na is motor A speed,    -   Nb is motor B speed,    -   Ni is EVT input speed,    -   No is EVT output speed, and    -   [K₃] is a 2×2 matrix of parametric values determined by the        hardware gear and shaft interconnections.        Output speed acceleration, No_dot, is preferably determined in        accordance with the derived output speed, No, whereas input        acceleration, Ni_dot, is preferably a desired rate of change of        input speed based on derived input speed, Ni, and profile/rate        limit control as taught in commonly assigned and co-pending U.S.        Ser. No. 10/686,511.

With reference now to the flow chart of FIG. 6, a set of exemplary stepsfor carrying out the present invention begins by determination of theappropriate model for use in accordance with the presently active modeof the EVT at block 170. As noted herein before, the basic form of themodel from one mode to the next remains the same, but the matrix ofparametric values may be different in accordance with the hardware gearand shaft interconnections and estimated hardware inertias applicable tothe drive range of interest. Machine torque limits are next determinedat block 172. Since it is an objective at this point to determine EVToperation at various system limits or constraints, machine torque limitsfor Ta and Tb provide the values used to calculate input torque, Ti, inaccordance with such machine torque limits. The machine torque limitsrefer to maximum and minimum motor torques, individually, and moreparticularly to pairs of such complementary maximum and minimum motortorques.

Limits or constraints on motor torques are reflected in FIG. 5 whereinmaximum and minimum motor torques (Ta_min, Ta_max, Tb_min and Tb_max)within the present condition capabilities of the motors are preferablyobtained from data sets stored in table form within data structures insystem controller 43. Such data sets are provided for reference by theroutine in pre-stored table format having been empirically derived fromconventional dynamometer testing of the combined motor and powerelectronics (e.g. power inverter) at various temperature and voltageconditions. An exemplary representation of such characteristic motortorque vs. speed data is illustrated in FIG. 5 wherein maximum andminimum data for a given speed are represented by the line of constantspeed 112 intersecting exemplary lines of constant temperature/voltage111, 113. The tabulated data is referenced by the motor speed (Na, Nb),voltage and temperature.

While the motors are used in both motoring and generatingmodes—suggesting four-quadrants (I, II, III, IV) of torque/speeddata—two quadrant data collection is generally sufficient wherein thedata collected in adjacent quadrants is merely reflected in the otherquadrants not directly measured. In the present example, quadrants I andII are shown with determined data 111 whereas quadrants III and IV areshown populated with reflected data 113 therefrom.

Preferably, maximum and minimum motor torques (Ta_min, Ta_max, Tb_minand Tb_max) derived from the data structures are further adjusted toensure a reservation of a predetermined amount of torque capacity at thelimits. Such reservation results in a Ta-Tb space for use in the EVTcontrol that is more conservatively sized with respect to actualfeasible Ta-Tb space. Various dynamic considerations make suchreservation desirable, including such considerations as motor speedaccelerations, and computational and executory loop cycle delaysinherent in any computer based controller implementation. A preferredmanner of determining such torque reservations is disclosed inco-pending and commonly assigned U.S. Ser. No. 10/846,153, the contentsof which are incorporated herein by reference.

FIG. 7 shows the feasible Ta-Tb torque space as the central, unshadedportion within the various Ta and Tb maximum and minimum limits.

Next, block 174 calculates maximum and minimum input torques(Ti_mach_max and Ti_mach_min) corresponding to the maximum and minimummachine torque pairs. Block 174 requires manipulation of the model torearrange for resolution of the desired parameters, in this instanceinput torque, from known or assumed parameters and takes the presentform as follows: $\begin{matrix}{\begin{bmatrix}{Ti} \\{To}\end{bmatrix} = {\left\lbrack K_{4} \right\rbrack\begin{bmatrix}{Ta} \\{Tb} \\{Ni\_ dot} \\{No\_ dot} \\{Ucl}\end{bmatrix}}} & (4)\end{matrix}$where [K₄] is a 2×5 matrix comprising the rearranged parametric valuesas set forth in equation (2) herein above.

From the above equation (4), input torques can be calculatedcorresponding to machine torques, Ta and Tb, through direct substitutionof values thereof into the model. With additional reference to the Ta-Tbspace in FIG. 7, and beginning at the upper right thereof and movingclockwise around the figure to intersections of the Ta and Tb limits,pairs of machine torque limits correspond to: Ta_max, Tb_max; Ta_max,Tb_min; Ta_min, Tb_min; and Ta_min, Tb_max. Individual substitutions ofthese four pairs of machine torque limits could be made into the modelto return corresponding input torques. But, it is known from systemTa-Tb space characterizations (see FIG. 4A) that a maximum input torqueat the machine limits corresponds to the Ta_max, Tb_min pair and that aminimum input torque at the machine limits corresponds to the Ta_min,Tb_max pair. Of course, for MODE 1 the orientation of the minimum andmaximum output torques would be opposite as can be verified withreference to FIG. 4B. These pairs are distinguished in the figure bycircles at respective machine torque limit pairs. Maximum input torquecorresponding to the machine torque limits therefore is represented bythe line of constant input torque labeled (Ti_mach_max) that is shownintersecting the Ta_max, Tb_min machine torque limit pair at the extremelower-right intersection thereof in the figure. Similarly, minimum inputtorque corresponding to the machine torque limits therefore isrepresented by the line of constant input torque labeled (Ti_mach_min)that is shown intersecting the Ta_min, Tb_max machine torque limit pairat the extreme upper-left intersection thereof in the figure.

In MODE 1 operation wherein the engine does not further constrain theTa-Tb space, Ti_mach_max and Ti_mach_min correspond directly to Ta_minand Ta_max, respectively. That is to say, Ti_mach_max overlies Ta_minand Ti_mach_min overlies Ta_max in the Ta-Tb torque space. And in MODE1, if engine torque is more constraining than machine torque, theconstrained engine torque maximum or minimum are essentially substitutedfor the Ta_min and Ta_max, respectively.

Block 176 next determines maximum and minimum input torques as afunction of peak available engine torque (Ti_eng_max, Ti_eng_min). Aspreviously described, the engine and EVT input are direct coupled.Therefore, there is a direct correspondence between the engine torqueand the input torque. The engine torque is determined in relation to apresent set of engine operating parameters, preferably engine speed andintake air pressure (atmospheric or boost depending on normal or turboaspiration). Preferably, peak available engine torque is obtained fromdata sets stored in table form within data structures in systemcontroller 43. Such data sets are provided for reference by the routinein pre-stored table format having been empirically derived fromconventional dynamometer testing or as provided in engine manufacturerspecification data. Other factors such as air density, fuel type (forpropulsion), engine retarder activation (for braking), and controlledlimits (e.g. fault responsive engine output limiters) may be consideredin determining peal available engine torque. Alternatively, the ECM 23may provide engine peak performance data substantially real-time, suchas in accordance with Society of Automotive Engineers standard J1939,for use in establishing peak available engine torque maximum and minimumdata for use in the present control.

The most constrained input torques from the respective maximum andminimum machine and engine torques (Ti_mach_max, Ti_mach_min,Ti_eng_max, Ti_eng_min) are selected at block 178 as the maximum andminimum input torques, Ti_max and Ti_min. With reference to FIG. 7, anexemplary maximum input torque as a function of the engine torque limitis labeled Ti_eng_max. In this example in FIG. 7, Ti_eng_max is lessconstraining than the maximum input torque as a function of the machinetorque limits, Ti_mach_max, i.e. is not less than Ti_mach_max. Withreference to FIG. 8, an exemplary maximum input torque as a function ofthe engine torque limit is labeled Ti_eng_max. Such engine torque limitderived input torque is, in this example, more constraining than themaximum and minimum input torques as functions of the machine torquelimits, Ti_mach_max and Ti_mach_min. The remaining feasible torquespace—now further limited by the additional maximum input torquedetermined as a function of engine torque limits—is represented by thenow contracted central unshaded portion of FIG. 8. The present exampleof FIG. 8 assumes that no further constraints upon the Ta-Tb space areprovided by the engine with respect to minimum torques. However, itshould be understood that such constraints could be plotted in similarfashion.

Next at block 180, and with additional reference to FIG. 9, evaluationsare performed that are necessary only in MODE 2 operation since in MODE1 operation any engine torque limitations upon the Ta-Tb space isaccounted for, as previously alluded to, by substitution of the moreconstraining input torque for the appropriate one of Ta_max and Ta_min.In block 180, Ti_max and Ti_min are evaluated with respect to the inputtorques calculated corresponding to the machine torque limits pairs atthe four intersections of Ta_max, Ta_min, Tb_max and Tb_min. It is knownfrom system Ta-Tb space characterizations (see FIG. 4A) that only thetwo sets of co-adjacent pairs of machine torque limits corresponding toTa_max and Tb_max need to be evaluated against Ti_max. And, it is alsoknown that only the two sets of co-adjacent pairs of machine torquelimits corresponding to Ta_min and Tb_min need to be evaluated againstTi_min. Adjacent sets of machine torque limit pairs are provided to themodel to determine working values for input torques. For example, Ta_maxand Tb_min are provided to the model to calculate a first value(Ti_temp1) for input torque. Similarly, the adjacent set of machinetorque limits, Ta_max and Tb_max, are provided to the model to calculatea second value (Ti_temp2) for input torque. Ti_max is then evaluatedagainst the two machine limit torque values, Ti_temp1 and Ti_temp2, todetermine whether Ti_max intersects Ta_max. In the present example forTi_max, it can be seen that Ti_max falls between the machine limitedtorque values, Ti_temp1 and Ti_temp2, as shown by the intersection ofTi_max with Ta_max. This result determines that motor A—corresponding tomachine limited maximum torque Ta_max—is the constraining machine withrespect to the least constrained output torque production at maximuminput torque, Ti_max. If Ti_max instead happened to fall between theco-adjacent machine limited torque limit pairs corresponding to Tb_max,i.e. (Ta_max, Tb_max) and (Ta_min, Tb_max) as shown by the intersectionof the broken line labeled 101 with Tb_max, then this result insteaddetermines that motor B —corresponding to machine limited maximum torqueTb_max—is the constraining machine with respect to the least constrainedoutput torque production at maximum input torque, Ti_max. While thisevaluation process has been described with respect to Ti_max, the sameprocedure, calculations and determinations are performed with respect toTi_min and machine constrained output torque production. However, theevaluation with respect to determining the constraining machine withrespect to the least constrained output torque production at minimuminput torque, Ti_min, is performed in relation to the two co-adjacentsets of machine torque limit pairs corresponding to Ta_min and Tb_min.

With the maximum and minimum input torques having been calculated by themodel in accordance with machine limits or determined in accordance withengine torque limits, and the respective constrained machinescorresponding to the least constrained maximum and minimum outputtorques having been determined, respectively, for the maximum andminimum input torques, block 182 now utilizes the model again incalculating the maximum and minimum output torques for the EVT inaccordance with the torque constraint parameters. Once again,manipulation of the model to rearrange for resolution of the desiredparameters, in this instance output torque, from the calculated ordetermined parameter limitations or constraints results in the presentform where machine A is the determined constraining machine as follows:$\begin{matrix}{\begin{bmatrix}{To} \\{Tb}\end{bmatrix} = {\left\lbrack K_{5} \right\rbrack\begin{bmatrix}{Ti} \\{Ta} \\{Ni\_ dot} \\{No\_ dot} \\{Ucl}\end{bmatrix}}} & (5)\end{matrix}$where, as distinguished from the model as represented in similar modelequations herein above,

-   -   [K₅] is a 2×5 matrix comprising the rearranged parametric values        of the model as set forth herein above;    -   Ti is Ti_max or Ti_min as calculated or determined in accordance        with the machine or engine torque limits and further in        accordance with the desired output torque limit to be determined        (e.g. To_max_TaTbTi or To_min_TaTbTi, respectivly); and    -   Ta is Ta_max or Ta_min in accordance with the desired output        torque limit to be determined (e.g. To_max_TaTbTi or        To_min_TaTbTi, respectively).

Similar manipulation or rearrangement of the model is performed wheremachine B is the determined constraining machine as follows:$\begin{matrix}{\begin{bmatrix}{To} \\{Ta}\end{bmatrix} = {\left\lbrack K_{6} \right\rbrack\begin{bmatrix}{Ti} \\{Tb} \\{Ni\_ dot} \\{No\_ dot} \\{Ucl}\end{bmatrix}}} & (6)\end{matrix}$where, as distinguished from the model as represented in similar modelequations herein above,

-   -   [K₆] is a 2×5 matrix comprising the rearranged parametric values        of the model as set forth herein above; and    -   Ti is Ti_max or Ti_min as calculated or determined in accordance        with the machine or engine torque limits and further in        accordance with the desired output torque limit to be determined        (e.g. To_max_TaTbTi or To_min_TaTbTi, respectivly); and    -   Tb is Tb_max or Tb_min in accordance with the desired output        torque limit to be determined (e.g. To_max_TaTbTi or        To_min_TaTbTi, respectively).        Reference is made to FIG. 10 which illustrates the To_max_TaTbTi        determined with respect to the foregoing description. It is        noted that in MODE 1, relationship (6) is used to calculate        To_max_TaTbTi.

One skilled in the art will appreciate from the foregoing descriptionand with recollection of the Ta-Tb space of the various FIGS. 7–10 thatMODE 1 operation will always return a maximum output torque for presenttorque constraint parameters at the Ta_min, Tb_max point and a minimumoutput torque for present torque constraint parameters at the Ta_max,Tb_min point. This is true in MODE 1 whether the engine torqueconstrains the Ta-Tb space or not so long as constraining engine torquesare reflected by substitution as discussed for the appropriate Ta limit,Ta_max or Ta_min. It will further be appreciated that in MODE 2operation, if the engine does not constrain the Ta-Tb space, the maximumand minimum output torques will be associated with the Ta_max, Tb_minpoint and a minimum output torque at the Ta_min, Tb_max point.

Thus far, only torque parameters related to the machines and the enginehave been considered in determination of the maximum and minimum outputtorques. Further description is given herein below in consideration ofbattery power parameters in determination of maximum and minimum outputtorques. Reference is made to the flow charts of FIGS. 12 and 13 and themore detailed Ta-Tb space diagrams of FIGS. 14–19. The flow chartsillustrate representative steps for carrying out the method of thepresent invention comprising instructions implemented as part of theexecutable computer code and data structures of system controller 43.The instructions represented thereby are, of course, executed as a partof a much larger group of instruction sets and routines carrying out thevarious control and diagnostic function of the powertrain previouslydescribed.

With reference to FIG. 12, a series of processes are illustrated for thedetermination of output torque limits in consideration of battery powerconstraints and machine torque constraints. Particularly with respect toblock 212, limits or constraints on battery power, Pbat_min andPbat_max, within the present condition capabilities of the batteries arepreferably determined based on data sets stored in table form withindata structures in system controller 43. Such data sets are provided forreference by the routine in pre-stored table format having beencorrelated to various conditions, e.g. state of charge, temperature,voltage and usage (amp-hour/hour). A preferred method of determiningminimum and maximum battery power is disclosed in commonly assigned andco-pending U.S. Ser. No. 10/686,180 which is incorporated herein byreference. Table referenced data may further be adjusted in accordancewith an offset (Pbat_limit_offset) determined, for example, by afiltered difference between estimated battery power and measured batterypower as further described herein below and substantially in accordancewith the following relationship:Pbat_max=Pbat_max_(—) lu+Pbat_limit_offset; and  (7)Pbat_min=Pbat_min_(—) lu+Pbat_limit_offset  (8)Where

-   -   Pbat_max_lu and Pbat_min_lu are table referenced values for        maximum and minimum battery power, respectively; and    -   Pbat_lim_offset is a filtered difference between estimated        battery power and measured battery power as further detailed        herein below in accordance with the relationship (12).

Estimates of battery power (Pbat_est) are provided pursuant to block 214of FIG. 12 in accordance with the following relationship:Pbat _(—) est=Pmotor_(—) A+Ploss_(—) A+Pmotor_(—) B+Ploss_(—) B  (9)where

-   -   Pmotor_A and Pmotor_B are unit A and unit B motor power,        respectively; and    -   Ploss_A and Ploss_B are unit A and unit B aggregate motor and        power electronics losses (motor losses), respectively.        Pmotor_A and Pmotor_B are further resolved in accordance with        motor torque-speed relationships as follows:        Pmotor_(—) A=Ta*Na; and  (10)        Pmotor_(—) B=Tb*Nb  (11)        where    -   Ta is motor A torque;    -   Tb is motor B torque;    -   Na is motor A speed; and    -   Nb is motor B speed.

Preferably, Ploss_A and Ploss_B are obtained from data sets stored intable form within data structures in system controller 43. Such datasets are provided for reference by the routine in pre-stored tableformat with power losses having been correlated to motor torque andspeed and referenced thereby. Power losses are, for example, empiricallyderived from conventional dynamometer testing of the combined motor andpower electronics (e.g. power inverter). With reference to FIGS. 11A and11 B, torque-speed-power loss characteristics for typical rotatingelectric machines are shown. In FIG. 11A, lines of constant power loss301 are shown plotted on the torque-speed plane for the motor. Brokenline labeled 303 corresponds to a plane of constant motor speed and, asviewed in relation to FIG. 11B, illustrates the generally paraboliccharacteristics of power loss versus motor torque.

The difference between the estimated battery power, Pbat_est, and themeasured electrical power input provides the previously mentionedoffset, after filtering, as follows:Pbat_limit_offset=Filter (Pbat _(—) est−Pbat _(—) meas)  (12)where

-   -   Pbat_meas is determined in accordance with the following        relationship:        Pbat _(—) meas=I*V  (13)        where    -   I is current delivered to the motors; and    -   V is the voltage at which the currents are provided.

In accordance with block 214 of FIG. 12, a plurality of key machinetorque combinations or pairs (Ta, Tb) are used in conjunction with therelationships (9) through (11) herein above to estimate battery power atthose combinations. Selected for the combinations are known torquemaximums, minimums and null values, i.e. Ta=Ta_max, Ta=0, Ta=Ta_min,Tb=Tb_max, Tb=0 and Tb=Tb_min. These key combinations are clearlyillustrated with reference to FIG. 14, variously labeled P1–P8 at theouter limits of the Ta-Tb feasible torque space. Therefore, with bothmotor speeds being known and both motor torques being known, estimatedbattery power corresponding to key combinations P1–P8 are provided byrelationship (9) set forth herein above.

At block 216 the battery powers associated with the maximum and minimumoutput torques, To_max_TaTbTi and To_min_TaTbTi, for the maximum andminimum machine torque pairs as previously described in reference toFIG. 6 are determined. Blocks 218 and 230 merely set up iterativeexecution of the block set 220 described further herein below. The blockset 220 executes once for each of the maximum and minimum battery powerlimits (Pbat_limit), Pbat_max and Pbat_min.

Block 222 performs an evaluation relative to the maximum and minimumbattery powers, Pbat_max and Pbat_min, and the estimated battery powerassociated with each of the key combinations, P1–P8. Adjacent ones ofthe estimated battery powers at P1–P8 are systematically compared toPbat_max and Pbat_min, for example as follows with respect to the keycombinations.

-   -   P1<Pbat_max<P2 P1<Pbat_min<P2    -   P2<Pbat_max<P3 P2<Pbat_min<P3    -   P3<Pbat_max<P4 P3<Pbat_min<P4    -   P4<Pbat_max<P5 P4<Pbat_min<P5    -   P5<Pbat_max<P6 P5<Pbat_min<P6    -   P6<Pbat_max<P7 P6<Pbat_min<P7    -   P7<Pbat_max<P8 P7<Pbat_min<P8    -   P8<Pbat_max<P1 P8<Pbat_min<P1        Where Pbat_max or Pbat_min intersect machine torque limits        between battery powers associated with the key combinations, it        is assumed that the respective battery power limit (Pbat_max or        Pbat_min) further constrains the feasible system torque space in        Ta-Tb as established by the machine torque limits, Ta_max,        Ta_min, Tb_max and Tb_min. With additional reference to FIG. 14,        Pbat_max is seen intersecting (Δ) Tb_max between P1 and P2 and        Tb_min between P6 and P7. Similarly, Pbat_min is seen        intersecting (Δ) Ta_min between P3 and P4 and Tb_min between P5        and P6.

Next, at block 224, machine torque pairs corresponding to theintersections (Δ) at the respective Ta and Tb maximum and minimum limitsare determined through the battery power estimate relationship (9),repeated immediately below.Pbat _(—) est=Pmotor_(—) A+Ploss_(—) A+Pmotor_(—) B+Ploss_(—) B  (9)Recalling with reference to the substantially parabolic characteristicsof the battery power losses as illustrated in FIGS. 11A and 11B, ageneral quadratic formula provides satisfactory correspondence of thebattery power loss data to motor torque and speed. The general forms ofthe quadratic loss relationships for each motor A and B power loss areset forth below:Ploss_(—) A=Xa _(n) *Ta ² +Ya _(n) *Ta+Za _(n)  (14)Ploss_(—) B=Xb _(n) *Tb ² +Yb _(n) *Tb+Zb _(n)  (15)where

-   -   Xa_(n), Ya_(n) and Za_(n) are empirically determined        coefficients corresponding to motor A at a plurality of        predetermined motor speed breakpoints n; and    -   Xb_(n), Yb_(n) and Zb_(n) are empirically determined        coefficients corresponding to motor B at a plurality of        predetermined motor speed breakpoints n.

It has been found that for motor speeds between the predetermined motorspeed breakpoints n, simple linear interpolation between adjacent speedbreakpoints (e.g. n and n−1) returns coefficients yielding satisfactorycorrespondence of the battery power loss data to the intermediate motorspeed, e.g. n<N<n−1. Substitution of the quadratic loss relationships(14) and (15) set forth herein above, and substitution of the knowntorque speed relationships (10) and (11) set forth herein above, into tothe battery power estimate relationship (9) yields the followingrelationship.Pbat _(—) est=Ta*Na+Xa _(n) *Ta ² +Ya _(n) *Ta+Za _(n) +Tb*Nb+Xb _(n)*Tb ² +Yb _(n) *Tb+Zb _(n)  (16)

The relationship (16) is then used in the determination of the machinetorque pairs, Ta and Tb, at the intersections (Δ) with the respective Taand Tb maximum and minimum limits. It can be observed that both motorspeed Na and Nb are known and that one of the torques Ta and Tb isknown, e.g. as one of Ta_max, Ta_min, Tb_max and Tb_min, and therelationship (16) is solved to yield the unknown one of the torques Taand Tb. In FIG. 15, the unknown machine torques for the maximum batterypower, Pbat_max, correspond to motor A torques and are delineated by thevertical dotted lines labeled 411 and 413.

With the machine torque pairs having thus been determined, block 226next calculates the output torques corresponding thereto. Once again,the EVT model is called upon in the calculation. Here, the arrangementof the model is as in relationship (4) reiterated for convenience hereinbelow. $\begin{matrix}{\begin{bmatrix}{Ti} \\{To}\end{bmatrix} = {\left\lbrack K_{4} \right\rbrack\begin{bmatrix}{Ta} \\{Tb} \\{Ni\_ dot} \\{No\_ dot} \\{Ucl}\end{bmatrix}}} & (4)\end{matrix}$With additional reference again to FIG. 15, the four output torquescalculated in the present example—subsequent to all iteration beingperformed—corresponding to the four machine torque pairs at theintersections of the maximum and minimum battery powers with the variousmachine torque limits (Δ) are illustrated as broken lines (variouslylabeled To(Pbat_max)₁, To(Pbat_max)₂, To(Pbat_min)₁ and To(Pbat_min)₂)further intersecting the respective battery powers and correspondingmachine torque limits.

As a final step prior to iteration of or release from block set 220,block 228 next stores all of the output torques associated with thevalid intersections as described for further use in an arbitrationprocess described further herein below.

With additional reference now to FIG. 16, block 234 next arbitratesamong the plurality of output torques, To(Pbat_max)_(n) andTo(Pbat_min)_(n), just calculated and To_max_TaTbTi to determinetherefrom a maximum output torque. The selected maximum torque from thisarbitration in the present example is To(Pbat_max)₂ and, therefore,To_max_PbatTaTb is set thereto. Block 235 next arbitrates among theplurality of output torques, To(Pbat_max)_(n) and To(Pbat_min)_(n), justcalculated and To_min_TaTbTi. The selected minimum torque from thisarbitration in the present example is To_min_TaTbTi and, therefore,To_min_PbatTaTb is set thereto. This result can be can be seen clearlyin FIG. 16.

With reference now to FIG. 13, a series of processes are illustrated forthe determination of output torque limits in consideration of batterypower constraints and engine torque constraints. Particularly withrespect to blocks 250, 252, 268 and 270, iterative execution of theblock set 254 is enabled thereby. The block set 254 executes once foreach of the combinations of maximum and minimum battery power limits(Pbat_max and Pbat_min) and the maximum and minimum engine based inputtorque limits embodied in the input torque limits (Ti_max and Ti_min).

In accordance with block 256 of FIG. 13, a plurality of key machinetorque combinations or pairs (Ta, Tb) corresponding to the minimum andmaximum input torques (Ti_max and Ti_min) calculated by the model inaccordance with machine or engine torque limits are determined. Here,the arrangement of the model is as in relationships (5) and (6)reiterated for convenience herein below and corresponding to known Taand known Tb scenarios, respectively: $\begin{matrix}{\begin{bmatrix}{To} \\{Tb}\end{bmatrix} = {\left\lbrack K_{5} \right\rbrack\begin{bmatrix}{Ti} \\{Ta} \\{Ni\_ dot} \\{No\_ dot} \\{Ucl}\end{bmatrix}}} & (5)\end{matrix}$where,

-   -   Ti is Ti_max or Ti_min as calculated or determined in accordance        with the machine or engine torque limits; and    -   Ta is the known machine torque point.        Similarly: $\begin{matrix}        {\begin{bmatrix}        {To} \\        {Ta}        \end{bmatrix} = {\left\lbrack K_{6} \right\rbrack\begin{bmatrix}        {Ti} \\        {Tb} \\        {Ni\_ dot} \\        {No\_ dot} \\        {Ucl}        \end{bmatrix}}} & (6)        \end{matrix}$        where    -   Ti is Ti_max or Ti_min as calculated or determined in accordance        with the machine or engine torque limits; and    -   Tb is the known machine torque point.

Two of the key machine torque combinations or pairs (Ta, Tb) correspondto the intersection of each of the respective Ti_max or Ti_min with themachine torque boundary in Ta-Tb and the other two preferably correspondto the intersection of each the respective Ti_max or Ti_min with themachine torque null limit in Ta-Tb. Thus each such intersectionsprovides one of the machine torques for the model to calculate the otherof the two machine torques to complete the respective pair. Where aknown null Ta-Tb intersection occurs beyond the other machine torquelimit, an alternative point may be substituted, e.g. a Ta or Tbestablished by substitution of a value substantially midway between thetwo immediately adjacent Ta-Tb pairs. Exemplary key combinations for theillustrated Ti_max are clearly illustrated with reference to FIG. 17 andare variously labeled P9–P12. At block 258 these machine torque pairsare then used in conjunction with the relationship (16) derived hereinabove to estimate battery power at those combinations.

At block 260, an evaluation is next performed relative to the maximumand minimum battery powers, Pbat_max and Pbat_min, and the estimatedbattery power associated with each of the key combinations, P9–P12.Adjacent ones of the estimated battery powers at P9–P12 aresystematically compared to Pbat_max and Pbat_min, for example as followswith respect to the key combinations.

-   -   P9<Pbat_max<P10 P9<Pbat_min<P10    -   P10<Pbat_max<P11 P10<Pbat_min<P11    -   P11<Pbat_max<P12 P11<Pbat_min<P12

Where Pbat_max or Pbat_min intersect the maximum input torque, Ti_max,between battery powers associated with the key combinations, it isassumed that the respective battery power limit (Pbat_max or Pbat_min)further constrains the feasible system torque space in Ta-Tb asestablished by the machine torque limits, Ta_max, Ta_min, Tb_max, Tb_minand the input torque limits, Ti-max and Ti_min. With additionalreference to FIG. 17, Pbat_max is seen intersecting (Δ) Ti_max betweenP11 and P12. Similarly, Pbat_min is seen intersecting (Δ) Ti_max betweenP9 and P10.

It is desirable to calculate output torque at the intersections ofPbat_max and Pbat_min with Ti_max and Ti_min for further use in finaldeterminations of overall output torque limits in view of machine,engine and battery constraints. At least one of the machine torques, Taor Tb, at the intersections is necessary in accordance with the modelusage for establishing output torque. Therefore, at block 262 a linearestimation, interpolative, section search or other suitable technique isused in reliance on the known Ta, Tb pairs at the estimated batterypowers P9–12 to establish the necessary machine torque pointscorresponding to the intersections.

Step 264 shows output torque at the intersections (Δ) is next calculatedusing the model and two known torques from at the intersection,preferably the limited input torque, Ti_max (or Ti_min as the case maybe) and the determined one of Ta and Tb corresponding to theintersection. Therefore, the arrangement of the model takes the familiarform of the relationships (5) or (6) reiterated for convenience hereinbelow an corresponding to known Ta and known Tb scenarios, respectively:$\begin{matrix}{\begin{bmatrix}{To} \\{Tb}\end{bmatrix} = {\left\lbrack K_{5} \right\rbrack\begin{bmatrix}{Ti} \\{Ta} \\{Ni\_ dot} \\{No\_ dot} \\{Ucl}\end{bmatrix}}} & (5)\end{matrix}$where

-   -   Ti is Ti_max or Ti_min as calculated or determined in accordance        with the machine or engine torque limits; and    -   Ta is the known machine torque point.        Similarly: $\begin{matrix}        {\begin{bmatrix}        {To} \\        {Ta}        \end{bmatrix} = {\left\lbrack K_{6} \right\rbrack\begin{bmatrix}        {Ti} \\        {Tb} \\        {Ni\_ dot} \\        {No\_ dot} \\        {Ucl}        \end{bmatrix}}} & (6)        \end{matrix}$        where    -   Ti is Ti_max or Ti_min as calculated or determined in accordance        with the machine or engine torque limits; and    -   Tb is the known machine torque point.        With additional reference again to FIG. 18, the output torques        calculated in the present example—subsequent to all iteration        being performed—corresponding to the intersections (Δ) of the        maximum and minimum battery powers with the maximum input torque        are illustrated as broken lines (variously labeled To(Pbat_min,        Ti_max)₁ and To(Pbat_max, Ti_max)₁) further intersecting the        respective battery powers and corresponding machine torque        limits.

As a final step prior to iteration of or release from block set 254,block 266 next stores all of the output torques associated with thevalid intersections as described for further use in an arbitrationprocess described further herein below.

With additional reference now to FIG. 19, block 274 next arbitratesamong the plurality of output torques, To(Pbat_max, Ti_max)_(n),To(Pbat_max, Ti_min)_(n), To(Pbat_min, Ti_max)_(n), To(Pbat_min, Ti_min)_(n), just calculated and To_max_TaTbTi. The selected maximum torquefrom this arbitration in the present example is To(Pbat_max, Ti_min)₁and, therefore, To_max_PbatTi is set thereto. This result can be can beseen clearly in FIG. 19. Block 275 next arbitrates the plurality ofoutput torques, To(Pbat_max, Ti_max)_(n), To(Pbat_max, Ti_min)_(n),To(Pbat_min, Ti_max)_(n), To(Pbat_min, Ti_min)_(n), just calculated andTo_min_TaTbTi. The selected minimum torque from this arbitration in thepresent example is To_min_TaTbTi and, therefore, To_min_PbatTi is setthereto. This result can be can be seen clearly in FIG. 19.

A final arbitration is now performed on the output torques determined tobe maximums and minimums with respect to the various limitationcombinations described with respect to flow charts of FIGS. 6, 12 and13. With reference to FIG. 20, the maximum output torques(To_max_TaTbTi, ToMax_PbatTaTb and To_max_PbatTi) are provided to MINfunction block to determine the most constrained value therefrom andprovides the selection as To_MAX. Similarly, the minimum output torques(To_max_TaTbTi, ToMax_PbatTaTb and To_max_PbatTi) are provided to MAXfunction block to determine the most constrained value therefrom andprovides the selection as To_MIN.

While the invention has been described by reference to certain preferredembodiments and implementations, it should be understood that numerouschanges could be made within the spirit and scope of the inventiveconcepts described. Accordingly, it is intended that the invention notbe limited to the disclosed embodiments, but that it have the full scopepermitted by the language of the following claims.

1. Method for determining output torque limits in a vehicular powertraincomprising an engine, an electrically variable transmission including atleast one electric motor, an electrical storage device and a driveline,said engine operatively coupled to the electrically variabletransmission at an input thereof, said driveline operatively coupled tothe electrically variable transmission at an output thereof, comprising:determining a feasible motor torque operating space; determining a firstset of output torque limits within the feasible motor torque operatingspace based upon predetermined motor torque limits and predeterminedengine torque limits; determining a second set of output torque limitswithin the feasible motor torque operating space based uponpredetermined electrical storage device power limits and saidpredetermined motor torque limits; determining a third set of outputtorque limits within the feasible motor torque operating space basedupon said predetermined electrical storage device power limits and saidpredetermined engine torque limits; and determining overall outputtorque limits of the powertrain as the most constrained of outputtorques from the first, second and third sets of output torque limits.2. The method for determining output torque limits as claimed in claim 1wherein the feasible motor torque operating space is determined toprovide torque capacity reservation in said at least one electric motor.3. The method for determining output torque limits as claimed in claim 1further comprising: determining input torque limits as the mostconstrained of input torques corresponding to said predetermined enginetorque limits and said predetermined motor torque limits, wherein saidfirst set of output torque limits are determined as the leastconstrained of output torques corresponding to said input torque limitsat said predetermined motor torque limits.
 4. The method for determiningoutput torque limits as claimed in claim 1 wherein said second set ofoutput torque limits are determined as the least constrained of outputtorques corresponding to said predetermined electrical storage devicepower limits at said predetermined motor torque limits and outputtorques corresponding to said predetermined motor torque limits withinsaid predetermined electrical storage device power limits.
 5. The methodfor determining output torque limits as claimed in claim 1 furthercomprising: determining input torque limits as the most constrained ofinput torques corresponding to said predetermined engine torque limitsand said predetermined motor torque limits, wherein said third set ofoutput torque limits are determined as the least constrained of outputtorques corresponding to said predetermined electrical storage devicepower limits at said input torque limits and output torquescorresponding to said input torque limits at said predetermined motortorque limits within said predetermined electrical storage device powerlimits.
 6. The method for determining output torque limits as claimed inclaim 3 wherein said third set of output torque limits are determined asthe least constrained of output torques corresponding to saidpredetermined electrical storage device power limits at said inputtorque limits and output torques corresponding to said input torquelimits at said predetermined motor torque limits within saidpredetermined electrical storage device power limits.
 7. Method fordetermining output torque limits in a vehicular powertrain comprising anengine, an electrically variable transmission including at least oneelectric motor, an electrical storage device and a driveline, saidengine operatively coupled to the electrically variable transmission atan input thereof, said driveline operatively coupled to the electricallyvariable transmission at an output thereof, comprising: determiningelectrical storage device power limits; determining motor torque limits;determining engine torque limits; determining input torque limits as themost constrained of input torques corresponding to said engine torquelimits and said motor torque limits; determining a first set of outputtorque limits as the least constrained of output torques correspondingto said input torque limits at said motor torque limits; determining asecond set of output torque limits as the least constrained of outputtorques corresponding to said electrical storage device power limits atsaid motor torque limits and output torques corresponding to said motortorque limits within said electrical storage device power limits;determining a third set of output torque limits as the least constrainedof output torques corresponding to said electrical storage device powerlimits at said input torque limits and output torques corresponding tosaid input torque limits at said motor torque limits within saidelectrical storage device power limits; and determining overall outputtorque limits of the powertrain as the most constrained of outputtorques from the first, second and third sets of output torque limits.8. The method for determining output torque limits as claimed in claim 7wherein the engine torque limits are determined in accordance with a setof engine operating parameters.
 9. The method for determining outputtorque limits as claimed in claim 8 wherein the engine torque limits aredetermined from stored data sets in a controller.
 10. The method fordetermining output torque limits as claimed in claim 8 wherein theengine torque limits are determined in real-time in a controller. 11.The method for determining output torque limits as claimed in claim 7wherein the motor torque limits are determined in accordance with a setof motor operating parameters.
 12. The method for determining outputtorque limits as claimed in claim 11 wherein the motor torque limits aredetermined from stored data sets in a controller.
 13. The method fordetermining output torque limits as claimed in claim 7 wherein theelectrical storage device power limits are determined in accordance witha set of electrical storage device parameters.
 14. The method fordetermining output torque limits as claimed in claim 13 wherein theelectrical storage device power limits are determined based on storeddata sets in a controller.
 15. The method for determining output torquelimits as claimed in claim 7 wherein the motor torque limits aredetermined to provide a reservation of torque capacity in said at leastone electric motor.
 16. Method for determining output torque limits in avehicular powertrain comprising an engine, an electrically variabletransmission including at least one electric motor, an electricalstorage device and a driveline, said engine operatively coupled to theelectrically variable transmission at an input thereof, said drivelineoperatively coupled to the electrically variable transmission at anoutput thereof, comprising: determining least constrained motor limitedinput torques corresponding to predetermined motor torque limits;determining engine limited input torques corresponding to predeterminedengine torque limits; selecting input torque limits as the mostconstrained of the motor limited input torques and engine limited inputtorques; determining a first set of output torque limits as the leastconstrained of output torques corresponding to said input torque limitsand said predetermined motor torque limits; determining a second set ofoutput torque limits as the least constrained of output torquescorresponding to predetermined electrical storage device power limits atsaid predetermined motor torque limits and output torques correspondingto said predetermined motor torque limits within said predeterminedelectrical storage device power limits; determining a third set ofoutput torque limits as the least constrained of output torquescorresponding to said predetermined electrical storage device powerlimits at said input torque limits and output torques corresponding tosaid input torque limits at said predetermined motor torque limitswithin said predetermined electrical storage device power limits; anddetermining overall output torque limits of the powertrain as the mostconstrained of output torques from the first, second and third sets ofoutput torque limits.
 17. The method for determining output torquelimits as claimed in claim 16 wherein the predetermined engine torquelimits are determined in accordance with a set of engine operatingparameters.
 18. The method for determining output torque limits asclaimed in claim 17 wherein the predetermined engine torque limits aredetermined from stored data sets in a controller.
 19. The method fordetermining output torque limits as claimed in claim 17 wherein thepredetermined engine torque limits are determined in real-time in acontroller.
 20. The method for determining output torque limits asclaimed in claim 16 wherein the predetermined motor torque limits aredetermined in accordance with a set of motor operating parameters. 21.The method for determining output torque limits as claimed in claim 20wherein the predetermined motor torque limits are determined from storeddata sets in a controller.
 22. The method for determining output torquelimits as claimed in claim 16 wherein the predetermined electricalstorage device power limits are determined in accordance with a set ofelectrical storage device parameters.
 23. The method for determiningoutput torque limits as claimed in claim 22 wherein the predeterminedelectrical storage device power limits are determined based on storeddata sets in a controller.
 24. The method for determining output torquelimits as claimed in claim 16 wherein the predetermined motor torquelimits are determined to provide a reservation of torque capacity insaid at least one electric motor.